Abstract
As we all know that the heading control of unmanned surface vessel (USV) is often with complex nonlinearity and uncertainty, it is difficult to establish accurate mathematical model, so the conventional control algorithm which is applied to linear system has some limitations. As fuzzy control does not rely on the specific mathematical model, and with control robustness, it is widely used in motion control system. However, the conventional fuzzy control is not high accuracy, usually with a large overshoot and steady-state error. In order to improve the dynamic and steady-state performance of fuzzy controller and further more improve its control quality, this paper combined expert system and fuzzy control then constitutes the Expert-Fuzzy controller, and applied to the heading control system of USV, simulation results shows that Expert-Fuzzy control system can achieve better heading control performance of USV compared to conventional fuzzy control system.
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